Savari MW-1000 User manual

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Savari
MW-1000™User Guide
Release 5.9.0
Document Version 1.5
November 4, 17

Copyright © Savari, Inc., 2017. All Rights Reserved. This publication, in whole or in part,
may not be reproduced, stored in a computerized, or other retrieval System or transmitted
in any form, or by any means whatsoever without the prior written permission from Savari
Inc.

MW-1000™ User Guide
Savari Inc., Confidential
Copyright © Savari, Inc, 2017
Table of Contents
1INTRODUCTION ...........................................................................................................................................1
2ABBREVIATIONS..........................................................................................................................................2
3SETUP GUIDE ................................................................................................................................................ 4
3.1 HARDWARE AND SOFTWARE SPECIFICATIONS ..................................................................................................4
3.2 CONNECTION DESCRIPTION..................................................................................................................................6
3.3POWER .....................................................................................................................................................................7
3.4 DSRC RADIOS.........................................................................................................................................................7
3.5 GPS...........................................................................................................................................................................7
3.6 ANTENNAS...............................................................................................................................................................7
3.7 STORAGE ..................................................................................................................................................................7
3.8 LEDS........................................................................................................................................................................8
3.9 ETHERNET ...............................................................................................................................................................8
3.10 USB...........................................................................................................................................................................8
3.11 WIFI.........................................................................................................................................................................8
4MW-1000™FEATURES ...............................................................................................................................9
4.1 DSRC RADIO PAIR .................................................................................................................................................9
4.2 SAVARI SDK.......................................................................................................................................................... 10
4.3 V2X APPLICATIONS............................................................................................................................................. 10
4.4 BASIC SAFETY MESSAGES .................................................................................................................................. 10
4.5 WAVE NETWORKING SERVICE ......................................................................................................................... 10
5MW-1000™ GETTING STARTED .......................................................................................................... 11
5.1ACCESSING METHODS......................................................................................................................................... 11
5.2 STATUS INDICATION ............................................................................................................................................ 11
5.3 DEFAULT CONFIGURATION................................................................................................................................. 11
5.4 RESETTING THE PASSWORD............................................................................................................................... 13
6CONFIGURING MW-1000 SOFTWARE SETTINGS............................................................ 14
6.1 MOST IMPORTANT CONFIGURATIONS............................................................................................................... 14
6.2 ADVANCED CONFIGURATIONS - NETWORK..................................................................................................... 15
IP Address configuration.................................................................................................................................15
WiFi configuration.............................................................................................................................................18
6.3 ADVANCED CONFIGURATIONS - MESSAGING LAYER ................................................................................. 19
6.4 ADVANCED CONFIGURATIONS - SYSTEM MESSAGE LOGGING (SML)......................................................... 25
7COMMAND LINE INTERFACE COMMANDS.......................................................................... 27
8TRANSFERRING SYSTEM MESSAGE LOGS......................................................................................... 28
9FIRMWARE UPGRADE PROCEDURE USING THE CLI..................................................................... 29
10 APPENDIX A: TOOLS ........................................................................................................................... 31
10.1 WINDOWS TOOLS................................................................................................................................................ 31
Winscp – Copying files from OBU to/from local-machine..........................................................31
Putty – Connecting to MW-1000 terminal.........................................................................................31
10.2 LINUX TOOLS/COMMANDS................................................................................................................................ 32
Minicom – Connecting to MW-1000 via Serial port in Linux....................................................32
11 APPENDIX B: TROUBLESHOOTING................................................................................................ 33
11.1 COMMON PROBLEMS AND SOLUTIONS............................................................................................................. 33
Hardware..........................................................................................................................................................33

MW-1000™ User Guide
Savari Inc., Confidential
Copyright © Savari, Inc, 2017
Configurations................................................................................................................................................33
DSRC....................................................................................................................................................................34
Networking ......................................................................................................................................................34
11.2 FREQUENTLY ASKED QUESTIONS ..................................................................................................................... 36
Hardware..........................................................................................................................................................36
DSRC....................................................................................................................................................................36
Logging..............................................................................................................................................................37
Software Update............................................................................................................................................37
Security ..............................................................................................................................................................38
Setup....................................................................................................................................................................38
GPS .......................................................................................................................................................................40
CAN ......................................................................................................................................................................40
BSM......................................................................................................................................................................40
REVISION HISTORY
Sl No
Date
Chapter
Description
Version
1
31-03-17
3
3.5 Updated description related to GPS
3.11 Updated WiFi module details
5.5.0
2
04-04-17
3
3.5 Updated description related to GPS
3.11 Updated WiFi module details
5.5.0
3
04-04-17
6
6.2 Added WiFi configuration
5.5.0
4
14-06-17
8
8 Minor changes to upgrade procedure
5.6.0
5
04-07-17
6
6. Re-organized the configuration section
5.6.1
6
04-07-17
9
9. Updated installation instructions
5.6.1
7
04-07-17
-
Re-organized document sections, and improved
readability of the document
5.6.1
8
04-07-17
10
10. Included Appendix – Windows/Linux tools
5.6.1
9
04-07-17
6
Removed safetyapps configuration details
5.6.2
10
25-07-17
5
5.3 Updated default BSM logging from enabled to
disabled.
5.7.1

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1 Introduction
MW-1000™(After Market Safety Device) platform is designed to provide V2X ITS engineers,
pilot operators and researchers flexibility to develop state of the art V2X applications. It is also
built for smart city applications. It can transmit and receive the signed or unsigned messages
such as Basic Safety Messages (BSM), receiving Map Data (MAP) message, Signal Phase and
Timing (SPaT) message and Traveler Information Message (TIM).
MW-1000™Supports the following protocol stack and other standards associated with DSRC for
vehicular communications:
IEEE 802.11p
IEEE 1609-1 through 1609-4
SAE J2735 MAR2016
SAE J2945/1
MW-1000™has a provision to test the interface, receive and load the new versions of software,
modify configurations, update credentials, and instructions to perform the login functions and
download the logged messages to an external device.
There may be variants of the MW-1xxx that are referred to in this document. The differences
between the MW-1000 and the variant will be highlighted where ever is necessary.

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2 Abbreviations
The following are the abbreviations used throughout this document:
Abbreviation
Expansion
ASD
After Market Safety Device
AP
Access Point
ASN1
Abstract Syntax Notation 1
BSM
Basic Safety Message
CA
Certificate Authority
CML
Communications Message Log
CSV
Comma Separated Value
DAS
Driver Assistance System
DHCP
Dynamic Host Control Protocol
DNS
Dynamic Naming Service
DSRC
Dedicated Short Range Communication
GID
Geometric Intersection Description
GPS
Global Positioning System
HMI
Human Machine Interface
ITS
Intelligent Transportation Systems
IT IS
International Traveler Information Systems
IP
Internet Protocol
LCM
Local Certificate Manager
LMD
Local Management Device
LSI
Local System Interface
MAP
Map Data
PCAP
Packet Capture
PSID
Provider Service Identifier
RSE
Road Side Equipment
Rx
Receive
SAE
Society for Automotive Engineers
SSH
Secure Shell
SPaT
Signal Phase and Timing
TCP
Transmission Control Protocol

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3
TIM
Traveler Information Message
Tx
Transmit
UDP
User Datagram Protocol
WAVE
Wireless Access in Vehicular Environments
WSA
WAVE Service Announcement

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3 Setup Guide
3.1 Hardware and Software Specifications
Item
Description
Processor
1 GHz dual core i.MX6
Memory
Up to 4GB DDR3 DRAM
*1GB for MW-1200Qxx OBU
Storage
Up to 32GB µSD Flash
2-8GB eMMC
*4 GB eMMC for MW-1200Qxx OBU
DSRC Radio
Two IEEE 802.11p 5GHz, 600mW, -94dB receiver
sensitivity
GPS
U-blox. Tracking sensitivity -160 dBm
Secure Flash
Infineon HSM SLI97
Ethernet
10/100 RJ-45 ports with Auto Uplink.
Console
RS-232 with micro USB connector
USB
1 USB 2.0 host ports
Power Supply
5V-30V DC Input for MW-1000
9V-30V DC Input for MW-1200Qxx OBU
Temperature
-40C to +85C
Standards Compliance
IEEE 802.11p, IEEE 1609.2, IEEE 1609.3, IEEE 1609.4,
SAE J2735 (2016)
Security
SSL, Firewall, 1609.2, HSM
Physical
140mmX133mmX42mm.
RF Antenna Connectors
SMB Male FAKRA. Type C Blue GPS, Type Z Light Green
DSRC0, Type Z Light Green DSRC1.
Power Consumption
Nominal < 5W
Recommended Power supply 10W
Audio
Built-in speaker, Audio mono line out and codec
CAN
1 CAN Connector
GPIO
4 GPIO Pins for custom applications
Ignition detect
For detection of Ignition ON/OFF
LED
Indicators for power, status and diagnostics

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WiFi (Optional)
Supports wireless protocols - IEEE802.11a, 802.11b,
802.11g, 802.11n

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3.2 Connection Description
Following are the diagrams displaying an MW-1000™ in front and rear views.
Figure1: Front View
Power +Vin
GPIO
GPS
DSRC1-2
DSRC1-1
DSRC2-2
DSRC2-1
Aux Speaker
CAN Bus
Power Ground
Signal In
Savari MW1000 Rear
Figure 2: Rear View
USBOTGuAB
uSD
USBtoUARTuAB
EthernetRJ-45
USBTypeA
3xDual
ColorLEDs
USBTypeA
Reset
LCDDisplay SavariMW1000Front

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3.3 Power
MW-1000™ can be powered using 9V-30V DC. A 10W power supply is recommended.
3.4 DSRC Radios
DSRC is a two-way short-to-medium-range wireless communications capability that
permits very high data transmission critical in communications-based active safety
applications. The DSRC radios support 802.11p and can transmit at power levels beyond 23
dBm. The range of these radios is 450-500m and it can be adjusted by using the transmit
power setting. Antenna diversity is supported in both the DSRC interfaces.
3.5 GPS
MW-1000™ comes with a built-in GNSS that can provide the following:
Up to 10 Hz update rate
GPS, GLONASS, QZSS, Beidou Constellations are supported
DR Position Calculation with sensors
Location accuracy of 2m with WAAS (2.5m without WAAS)
Note: WAAS is enabled by default.
3.6 Antennas
MW-1000™ can accommodate the following antennas:
Two 5.9GHz passive DSRC (4 when diversity is used)
One GPS active antenna (max of 20mA)
3.7 Storage
MW-1000™ platform can support:
1MB flash memory for saving sensitive data
64K EEPROM for saving configuration and manufacturing data
Up to 16 GB eMMC
Up to 32 GB SD Card
Note: MW-1000™ supports utilities like ssh and scp to make it easier for retrieving the log
data to an external platform and perform post analysis.

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3.8 LEDs
MW-1000™ comes with the following three LEDs on the panel to indicate the following:
Power
BSM Transmission (Tx)
Diagnostics (currently used to indicate USB drive mounted/unmounted status)
3.9 Ethernet
MW-1000™ consists of one Ethernet port (eth0) on the panel.
3.10 USB
MW-1000™ supports USB drive, and it is mounted in the following location-
/mnt/usbdrive
Note: By default, MW-1000™ devices do not log the CML and SML messages in the USB
drive.
3.11 WiFi
It provides WiFi capability in 2.4 GHz and 5GHz band. By default, configured for 2.4 GHz. It is
used for HMI connection and maintenance purpose.
By default, when the board comes up, the process will be started as below.
2081 root 3304 S /usr/local/bin/hostapd -B /etc/config/hostapd-minimal.conf
Any changes done in this file can be applied by restarting savari-hmi.
/etc/init.d/savari-hmi stop
/etc/init.d/savari-hmi start

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9
4 MW-1000™Features
This chapter explains the salient features of the MW-1000™.
Following is the functional block diagram of MW-1000™ system.
Fig 1: Functional Block Diagram of MW-1000 ™
MW-1000™ features are explained briefly in the following sub-sections:
4.1 DSRC Radio Pair
Each MW-1000™ consists of two (2) integrated high power DSRC radios, which are exposed
as the following two interfaces:
ath0
ath1
Ath0 can be configured to operate in one of the following modes:
Alternating channel access
Continuous channel access
All the applications (except BSM) operate on ath0 radio. Based on the application priority set in
the v2vi_config file, MW-1000™chooses to either drop or transmit the packets.
Ath1 always operates in continuous mode, and is reserved for transmitting, receiving BSM
packets.

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4.2 Savari SDK
The MW-1000™ can host the Savari SDK, which can be used to develop V2X applications.
This is optional and it is not part of MW-1000 base package. For further details, refer to Savari
V2X SDK installation and user guide (Available on-demand).
4.3 V2X Applications
The MW-1000™ can support V2X applications. Savari has developed and tested many V2X
(V2V, V2I and V2P) applications. The unit also provides various interfaces to display safety or
informational alerts to the user. These range from using the inbuilt speaker to use a phablet
through a WiFi/Bluetooth connection.
4.4 Basic Safety Messages
MW-1000™ supports transmission and reception of signed or unsigned Basic Safety Messages
over the configured DSRC channel. Certificates that are necessary to sign these messages are
either preloaded on MW-1000™ or downloaded from SCMS server using IPv6 link over DSRC
between MW-1000™ and RSU.
4.5 WAVE Networking Service
WAVE system is a radio communication system intended to provide interoperable services to
transportation. The WAVE services include communication between vehicles, RSUs and
between vehicles.

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11
5 MW-1000™Getting Started
This section describes the procedures to get the MW-1000™started after installation and power
up.
5.1 Accessing Methods
After power up, the MW-1000™ comes up with a default IP of 192.168.100.1.
The MW-1000™ can be accessed from any PC or laptop using ssh.
To Access using SSH:
ssh r[email protected]00.1
Password:5@G3p9axINJA
5.2 Status Indication
The following table displays the details about the LED status indicators:
LED Name
Indication
Description
PWR
On
Off
The device is powered on.
The device is powered off.
TX
Off
Blinking (As per the Tx rate)
BSMs are not transmitting.
BSMs are transmitting.
USB
On
Off
Mounted
Not mounted
5.3 Default Configuration
DSRC radio 1 (ath0): This radio is configured in channel switching mode to listen for WSAs and
connect to RSE if the requested service is available.
DSRC radio 2 (ath1): This radio is configured in the continuous channel access for channel 172
which is configured by default. Different channel can be used by changing configuration file. BSM
transmission and reception happens on this radio.

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BSMd: This application is used to transmit and receive signed or unsigned Basic Safety
Messages over DSRC channel configured.
SPAT/MAP: This application is used to receive signed or unsigned Signal Phase and Timing
(SPaT) and Map Data (MAP) messages, which are transmitted from the RSE using the format
specified in SAE J2735(2016) standards document over configured DSRC channel. Also, this
message should have matching PSID, Advertiser ID configured in MW-1000™.
TIM app: This application is used to receive signed or unsigned Traveler Information Messages
(TIM), which are transmitted from the RSE using the format specified in SAE J2735(2016)
document over configured DSRC channel. Also, this message should have matching PSID,
Advertiser ID configured in MW-1000™.
Ipv6 app: This application receives WSAs from RSE, links with the RSE, which has matching
configured PSID, Advertiser ID, PSC. This application is also used to download the certificates
from SCMS server.
1609.2 Security Configuration:
The MW-1000™ contains only the root certificate and the other certificates are reconstructed
whenever MW-1000™ encounters the RSE. It also contains 6 months of valid certificates and
long-term certificates. Before these valid certificates expire, the MW-1000™ will query the CA
for new certificates and downloads the next batch. Threshold at which the next batch of
certificates to be downloaded can be configured which is explained in the later sections.
Transmit and Receive Log Files: disabled
Directory:/nojournal/bsmlogs
System Log Files: enabled
Directory:/nojournal/systemlogs/
Radio
Channel Mode
Value
Applications
ath0
Alternating
CCH - SCH
IPv6app, TIM,
SPAT/MAP
ath1
Continuous
SCH (Default
– 172)
BSMApp

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5.4 Resetting the password
The following is the procedure to reset the password:
root@ASD:~# passwd
Changing password for root
New password:
Retype password:
Password for root changed by root
root@ASD:~#
Note: After changing the password, the user needs to log in using the new password.

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6Configuring MW-1000 software settings
Configuration section provides you with most-important configurations and advanced
configurations settings for MW-1000™ device.
Note: All the configuration changes will be applicable only when you reboot MW-1000™, unless
otherwise specified.
6.1 Most important configurations
Most important configuration parameters are listed below
Configuration Item
Value
Description
Wireless Configuration.
File-path: /etc/config/hostapd-minimal.conf
ssid
SavariHMI
Sets the name (SSID = service set identifier) of the
network
wpa_passphrase
SavariSafetyAp
plications
These establish what the pre-shared key will be for
wpa authentication.
wpa_key_mgmt
WPA-PSK
This controls what key management algorithms a
client can authenticate with.
DSRC configurations.
File-path: /etc/config/v2vi_obe.conf
TxDataRate_Mbps
6 – 54
(default: 12)
Configuration parameter is twice the actual 10 MHz
channel rate (i.e., 12=6Mbps)
Configuration parameter is the actual 20 MHz
channel rate (i.e., 12=12Mbps)
Valid values: 6, 9, 12, 18, 24, 36, 48, 54
TxPwrLevel_dBm
0 – 33
(Default: 23)
Valid values: 0 to 33 in increments of 1 dBm.
DSRC applications configurations
File-path: /etc/config/v2vi_obe.conf
BSMSecurityEnable
0,1
(Default: 1)
Enables / Disables the security functionality.
0: Disable
1: Enable
BSMPartITxInterval_ms
50, 1000
(Default: 100)
BSM Transmit interval
Valid Values:
50, 100, 200, 300, …,1000 ms
BSMContinuousChanNum
172, 184
(Default: 172)
Channel number to use when ‘Channel Mode’ is set
to ‘0’.
Even channel number applicable to 10 MHz
channels.
Odd channel numbers applicable to 20 MHz
channels.
The channel number and channel modes should be

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15
identical to the application, which run on the same
interface.
SPATMAPPsid
0x00
(Default:
0x8002)
0xEFFFFFFF # PSID that should be used when
receiving PSIDPSID Length: Valid Values
1 byte: 00 - 7F
2 bytes: 8000 – BFFF
3 bytes: C00000 – DFFFFF
4 bytes: E0000000 – EFFFFFFF
TIMPsid
0x00
(Default:
0x8003)
0xEFFFFFFF # PSID that should be used when
receiving PSIDPSID Length: Valid Values
1 byte: 00 - 7F
2 bytes: 8000 – BFFF
3 bytes: C00000 – DFFFFF
4 bytes: E0000000 - EFFFFFFF
SPATMAPBypassSecurity
0, 1
(Default: 1)
Enable/Disable Security verification bypass
SPATMAPSecurityEnabled
0, 1
(Default:1)
0 – Disable
1 – Enable
Vehicle configurations.
File-path: /etc/config/v2vi_obe.conf
VehicleWidth
0, 10.23
(Default: 2)
Vehicle width in meters.
VehicleLength
0, 40.95
(Default: 5)
Vehicle length in meters.
VehicleHeight
0, 6.35
(Default: 1.5)
Vehicle height in meters.
VehicleType
0,15
(Default: 4)
As per J2735
6.2 Advanced Configurations - Network
IP Address configuration
The IP address configuration is available in the following file:
/etc/config/network
A sample format of the file is explained below. A single IPv4 address and up to three IPv6
addresses (ipv6addr1, ipv6addr2, and ipv6addr3 options) can be specified per interface.
Loopback Configuration:
Configuration Item
Value
Description
config interface loopback
Network name

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16
option ifname
Lo
Interface name
option proto
Static
‘static’/’dhcp’: Assign static IP
address or get from DHCP server.
option ipaddr
127.0.0.1
IPv4 address, comment out if not
needed.
option netmask
255.0.0.0
IPv4 net mask, comment out if not
needed.
LAN Configuration:
Configuration Item
Value
Description
config interface lan
Network name
option ifname
eth0
Interface name
option proto
Static
‘static’/’dhcp’: Assign static IP
address or get from DHCP server.
option ipaddr
10.0.0.1
IPv4 address, comment out if not
needed.
option netmask
255.255.255.0
IPv4 netmask, comment out if not
needed.
option ip6addr1
2001:100::1/64
IPv6 address 1, comment out if not
needed
option ip6gw
2001:470:e0fb:1111::aaaa'
IPv6 default gateway, comment
out if not needed
option ip6addr2
2001:200::1/64
IPv6 address 2, comment out if not
needed.
option dns
192.168.0.1
DNS server, comment out if not
needed.
option gateway
192.168.0.1
Default gateway, comment out if
not needed.
DSRCnet0 Configuration:
Configuration Item
Value
Description
config interface dsrcnet0
Network name: DSRC 0
option ifname
ath0
Interface name
option proto
Static
‘static’/’dhcp’: Assign static IP
address or get from DHCP server.
DSRCnet1 Configuration:
Configuration Item
Value
Description
config interface dsrcnet1
Network name: DSRC1
option ifname
ath1
Interface name